| 引用本文: | 刘旭,智亚丽,张燕,孙先涛,陈文杰.分段复合幂次趋近律的滑模控制[J].控制理论与应用,2026,43(3):671~676.[点击复制] |
| LIU Xu,ZHI Ya-li,ZHANG Yan,SUN Xian-tao,CHEN Wen-jie.Piecewise compound power reaching law for sliding mode control[J].Control Theory & Applications,2026,43(3):671~676.[点击复制] |
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| 分段复合幂次趋近律的滑模控制 |
| Piecewise compound power reaching law for sliding mode control |
| 摘要点击 499 全文点击 85 投稿时间：2023-11-21 修订日期：2025-05-21 |
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| DOI编号 10.7641/CTA.2024.30756 |
| 2026,43(3):671-676 |
| 中文关键词 滑模控制 平滑函数 分段复合幂次趋近律 稳态误差界 |
| 英文关键词 sliding mode control smooth function piecewise compound power reaching law steady-state error bound ary |
| 基金项目 国家自然科学基金项目(62103001)资助. |
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| 中文摘要 |
| 针对传统幂次趋近律作用下的滑模控制中存在的收敛速度缓慢和抖振现象,本文在自适应趋近律和幂次
趋近律的基础上,选择分段函数的形式,提出一种分段复合幂次趋近律.通过引入随系统状态变化的平滑函数以及
对传统幂次趋近律的改进,保证系统在各个阶段都具有较快的趋近速率;同时,本文证明所提出的分段复合幂次趋
近律能够快速收敛且到达滑模面时无抖振现象,并在系统存在外界干扰时能够收敛于稳态误差界;最后,通过对比
仿真证明所提趋近律的有效性和优越性. |
| 英文摘要 |
| For addressing slow convergence rate and chattering phenomenon in the traditional power convergence law for
sliding mode control, this paper proposes a piecewise compound power reaching law by selecting the form of segmented
function on the basis of the adaptive convergence law and the power convergence law. By introducing the smoothing
function with the state change of the system and improving the traditional power convergence law, the system is guaranteed
to have a fast convergence rate at all stages. Meanwhile, it is proved that the proposed piecewise compound power reaching
law can converge quickly without chattering phenomenon when arriving at the sliding mode surface, and the system can
converge to the steady-state error boundary when there are external disturbances in the system. At last, the effectiveness
and merit of the presented convergence law is verified by comparative simulation with the existing results. |
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